Tool navigation using a customized medical simulation

Abstract

Tool navigation using customized medical simulation is provided. A system accesses a 3-dimensional model of an organ generated via a scan of a subject on which a procedure is to be performed via a robotic medical system. The system registers the 3-dimensional model of the organ with predetermined coupling points in a digital environment established for the procedure on the subject. The system executes, via the digital environment, a simulation of the procedure to identify a candidate path for a tool through the 3-dimensional model of the organ registered with the predetermined coupling points in the digital environment. The system provides, for display via a graphical user interface, an indication of the candidate path for the tool to perform the procedure via the robotic medical system.

What is claimed is: 
     
         1 . A system, comprising:
 one or more processors, coupled with memory, to:   access a 3-dimensional model of an anatomical structure generated via a scan of a subject on which a procedure is to be performed via a robotic medical system;   register the 3-dimensional model of the anatomical structure with predetermined coupling points in a digital environment established for the procedure on the subject;   execute, via the digital environment, a simulation of the procedure to identify a candidate path for a tool through the 3-dimensional model of the anatomical structure registered with the predetermined coupling points in the digital environment; and   provide, for display via a graphical user interface, an indication of the candidate path for the tool to perform the procedure via the robotic medical system.   
     
     
         2 . The system of  claim 1 , wherein the one or more processors are further configured to:
 access a 3-dimensional model of the subject generated with a first resolution, wherein the 3-dimensional model of the anatomical structure is generated with a second resolution that is greater than the first resolution; and   register, via the predetermined coupling points, the 3-dimensional model of the anatomical structure with the 3-dimensional model of the subject in the digital environment.   
     
     
         3 . The system of  claim 1 , wherein the one or more processors are further configured to:
 receive an indication of one or more portions of the subject on which the procedure is to be performed;   identify a resolution of one or more 3-dimensional models for the one or more portions of the subject based on the indication that the procedure is to be performed on the one or more portions; and   select the 3-dimensional models having the resolution for registration in the digital environment.   
     
     
         4 . The system of  claim 1 , wherein the anatomical structure comprises an organ, the predetermined coupling points comprise a first vein and a second vein, and the one or more processors are further configured to:
 align a first point on the 3-dimensional model of the organ with the first vein in the digital environment; and   align a second point on the 3-dimensional model of the organ with the second vein in the digital environment.   
     
     
         5 . The system of  claim 1 , wherein the one or more processors are further configured to:
 adjust a size of a simulated anatomy in the digital environment to register the 3-dimensional model of the anatomical structure in the digital environment.   
     
     
         6 . The system of  claim 1 , wherein the one or more processors are further configured to:
 adjust an orientation of the 3-dimensional model of the anatomical structure to register the 3-dimensional model of the anatomical structure in the digital environment.   
     
     
         7 . The system of  claim 1 , wherein the one or more processors are further configured to:
 identify, upon execution of the simulation of the procedure, a plurality of candidate paths for the tool through the 3-dimensional model, wherein the plurality of candidate paths comprises the candidate path;   determine, based on the simulation, a first value for a performance metric for the candidate path of the plurality of candidate paths;   determine, based on the simulation, a second value for the performance metric for a second candidate path of the plurality of candidate paths;   select the candidate path based on a comparison of the first value and the second value; and   provide, responsive to the selection, the indication for the candidate path for display via the graphical user interface.   
     
     
         8 . The system of  claim 1 , wherein the one or more processors are further configured to:
 identify, upon execution of the simulation of the procedure, a value of a performance metric related to the candidate path for the tool to perform;   identify a threshold for the performance metric based on at least one of a type of procedure or a type of the anatomical structure; and   provide, responsive to the value of the performance metric satisfying the threshold, the candidate path for display via the graphical user interface.   
     
     
         9 . The system of  claim 8 , wherein the one or more processors are further configured to:
 display, via the graphical user interface, one or more values of the performance metric in association with one or more candidate paths.   
     
     
         10 . The system of  claim 1 , wherein the one or more processors are further configured to:
 overlay, via the graphical user interface, the indication of the candidate path on the 3-dimensional model of the anatomical structure.   
     
     
         11 . The system of  claim 1 , wherein the one or more processors are further configured to:
 receive a video stream captured by a camera of the procedure performed via the robotic medical system on the subject in a medical environment;   display the video stream via the graphical user interface; and   overlay the indication of the candidate path for the tool through the anatomical structure on the video stream of the procedure displayed via the graphical user interface.   
     
     
         12 . The system of  claim 11 , wherein the one or more processors are further configured to:
 receive, subsequent to the display of the candidate path, a command to reject the candidate path displayed via the graphical user interface;   remove, responsive to the command, the display of the candidate path; and   display, responsive to the command, a second candidate path identified during execution of the simulation.   
     
     
         13 . The system of  claim 1 , wherein the one or more processors are further configured to:
 receive, via one or more sensors, a data stream of the procedure performed via the robotic medical system on the subject in a medical environment;   determine a first value of a performance metric associated with the procedure performed via the robotic medical system on the subject in the medical environment;   determine a second value of the performance metric related to the candidate path identified during execution of the simulation; and   provide a notification via the graphical user interface based on a comparison of the first value and the second value.   
     
     
         14 . The system of  claim 13 , wherein the one or more processors are further configured to:
 generate a value of a second performance metric based at least in part on the comparison of the first value and the second value; and   display, via the graphical user interface, the value of the second performance metric.   
     
     
         15 . The system of  claim 13 , wherein the one or more processors are further configured to:
 display a location of the tool during the procedure performed via the robotic medical system on the subject in the medical environment; and   display the location of the tool on the graphical user interface comprising the indication of the candidate path for the tool to perform the procedure via the robotic medical system.   
     
     
         16 . The system of  claim 15 , wherein the one or more processors are further configured to:
 determine a distance between the location of the tool and the candidate path for the tool; and   provide a second notification responsive to the distance being greater than a threshold.   
     
     
         17 . The system of  claim 16 , wherein the threshold is selected based at least in part on a type of the procedure or the type of the anatomical structure. 
     
     
         18 . A method, comprising:
 registering, by one or more processors coupled with memory, a 3-dimensional model of an organ with predetermined coupling points in a digital environment established for a procedure to be performed via robotic medical system on a subject;   simulating, by the one or more processors via the digital environment, the procedure to identify a candidate path for a tool through the 3-dimensional model of the organ registered with the predetermined coupling points in the digital environment; and   providing, by the one or more processors for display via a graphical user interface, an indication of the candidate path for the tool to perform the procedure via the robotic medical system.   
     
     
         19 . The method of  claim 18 , comprising:
 accessing, by the one or more processors, a 3-dimensional model of the subject generated with a first resolution, wherein the 3-dimensional model of the organ is generated with a second resolution that is greater than the first resolution; and   registering, by the one or more processors via the predetermined coupling points, the 3-dimensional model of the organ with the 3-dimensional model of the subject in the digital environment.   
     
     
         20 . A non-transitory computer-readable medium storing processor-executable instructions that, when executed by one or more processors, cause the one or more processors to:
 download a 3-dimensional model of an organ generated via a scan of a subject on which a procedure is to be performed via a robotic medical system;   overlay the 3-dimensional model of the organ with predetermined coupling points in a digital environment established for the procedure on the subject;   execute, via the digital environment, a simulation of the procedure to identify a candidate path for a tool through the 3-dimensional model of the organ registered with the predetermined coupling points in the digital environment; and   display, via a graphical user interface, an indication of the candidate path for the tool to perform the procedure via the robotic medical system.